joint_state_controller.h

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// Copyright (C) 2012, hiDOF INC.
//
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//     this software without specific prior written permission.
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/*
 * Author: Wim Meeussen
 */

#ifndef JOINT_STATE_CONTROLLER_JOINT_STATE_CONTROLLER_H
#define JOINT_STATE_CONTROLLER_JOINT_STATE_CONTROLLER_H

#include <controller_interface/controller.h>
#include <hardware_interface/joint_state_interface.h>
#include <pluginlib/class_list_macros.h>
#include <sensor_msgs/JointState.h>
#include <realtime_tools/realtime_publisher.h>
#include <boost/shared_ptr.hpp>

namespace joint_state_controller
{

// this controller gets access to the JointStateInterface
class JointStateController: public controller_interface::Controller<hardware_interface::JointStateInterface>
{
public:
  JointStateController() : publish_rate_(0.0) {}

  virtual bool init(hardware_interface::JointStateInterface* hw, ros::NodeHandle &root_nh, ros::NodeHandle& controller_nh);
  virtual void starting(const ros::Time& time);
  virtual void update(const ros::Time& time, const ros::Duration& period);
  virtual void stopping(const ros::Time& time);

private:
  std::vector<hardware_interface::JointStateHandle> joint_state_;
  boost::shared_ptr<realtime_tools::RealtimePublisher<sensor_msgs::JointState> > realtime_pub_;
  ros::Time last_publish_time_;
  double publish_rate_;
};

}

#endif